Delta Electronics AC Servo Drive ASDA-AB Manual de usuario Pagina 133
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Chapter 6 Control Modes of Operation ASDA-A User Manual
4th Edition 2005/11/30, HE03 © DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED
6-36
6-5-2 Speed / Torque Control Mode Selection
S-T Mode:
The speed command can be the external analog voltage or internal parameters (P1-09 to P1-11) and
SPD0~1 is used to select speed command. The same as speed command, the torque command can be
the external analog voltage or internal parameters (P1-12 to P1-14) and TCM0~1 is used to select torque
command The speed and torque mode switching is controlled by the S-T signal.
The timing chart of speed / torque control mode selection is shown as the figure below:
S-T
NOT CARE
NOT CARE
SPD0-1 VALID
TCM0-1 VALID
NOT CARE
TCM0-1 VALID
Torque control mode
Speed control mode
Torque control mode
Figure 2. : Speed / Torque Control Mode Selection
In torque mode (when S-T is ON), torque command is selected by TCM0~1. When switching to the position
mode (when S-T is OFF), the torque command is selected by SPD0~1, and then the motor will immediately
rotate following the command. After S-T is ON, it will immediately return to torque mode. For the relationship
between DI signal and selected command in each mode, please refer to the introduction of single mode.
- Using This Manual 4
- Contents of this manual 4
- Who should use this manual 4
- Important precautions 4
- SAFETY PRECAUTIONS 5
- Operation 6
- Maintenance and Inspection 6
- Main Circuit Wiring 6
- Trial Run without Load 7
- Trial Run with Load 7
- User Manual 8
- 4th Edition 2005/11/30, HE03 10
- About this Manual… 13
- 1-1 Unpacking Check 14
- 1-2 Model Explanation 15
- 1-2-2 Model Name 16
- ASMT Series Servo Motor 17
- 1-4 Servo Drive Features 20
- 2-1 Installation Notes 24
- 2-2 Storage Conditions 24
- 2-3 Installation Conditions 24
- Installation Procedure 25
- Drive Mounting 26
- Motor Mounting 26
- Minimum Clearances 26
- Side by Side Installation 27
- 3-1 Configuration 28
- 3-1-3 Wiring Methods 30
- 4th Edition 2005/11/30, HE03 32
- Power Cable 34
- Encoder Cable 34
- (AWG26) 34
- ) of the servo drive 35
- 3-2 Basic Wiring 36
- Servo Drive 37
- Figure 3.6 38
- (for analog command) 39
- Table 3.B General Signals 40
- Table 3.G 46
- 3-4 Encoder Connector CN2 55
- Enco der Wiring 58
- Encoder Wiring 59
- 3-6-3 Speed Control Mode 60
- 3-6-4 Torque Control Mode 61
- 4-1 Digital Keypad 62
- 4-2 Display Flowchart 63
- 4-3 Status Display 64
- 4-4-2 JOG Operation 67
- Figure 4.4 68
- Figure 4.5 69
- ONONONONONONON 70
- Figure 4.8 71
- 5-1 Inspection without Load 72
- Over voltage: 75
- Encoder error: 75
- Emergency stop activated: 75
- Reverse limit switch error: 76
- Forward limit switch error: 76
- Overcurrent: 77
- Undervoltage: 77
- Press Release 78
- 5-6 Tuning Procedure 84
- 5-6-1 Tuning Flowchart 85
- (1+ (J_load / J_motor)) 96
- NLP (Parameter P2-25) 97
- 6-2 Position Control Mode 100
- P1 - 00ϧ 101
- 20 turns 102
- 10 turns 102
- Position Command Processing 103
- TACC TSL/2 104
- P1 - 36 TSL 105
- P1 - 34 TACC 105
- P1 - 35 TDEC 105
- 6-2-5 Electronic Gear Ratio 106
- 6-2-6 Low-pass Filter 107
- P2 - 00 KPP 108
- P2 - 02 PFG 108
- Position 109
- 6-3 Speed Control Mode 110
- S-curve Filter 113
- Analog Input Filter 114
- P1 - 06 SFLT 114
- Ta r g e t Sp ee d 115
- P1 - 40ϧ 116
- Note: 117
- P2 - 32ϧ 118
- Manual Mode 119
- P2 - 04 KVP 119
- P2 - 06 KVI 119
- P2 - 07 KVF 119
- Frequency Domain 120
- Time Domain 121
- Easy Mode 122
- P2 - 31 AUT1 122
- Motor Speed 123
- Inertia Measurement 123
- 6-3-7 Resonance Suppression 124
- Low-pass filter 125
- Notch Filter 125
- 6-4 Torque Control Mode 126
- Basic Structure: 127
- Ta r ge t S p ee d 128
- P1 - 41ϧ 129
- 6-5 Control Modes Selection 131
- Pt-S Mode / Pr-S Mode: 132
- S-T Mode: 133
- Pt-T Mode / Pr-T Mode: 134
- 6-6 Others 135
- Y=1 in P1-02 136
- TCM0~1 INVALID 136
- TCM0~1 VALID 136
- Y=0 in P1-02 136
- 6-6-3 Regenerative Resistor 137
- Simple Calculation Method 140
- 6-6-4 Analog Monitor 141
- 6-6-5 Electromagnetic Brake 143
- Chapter 7 Parameters 146
- 7-2 Parameters Summary 147
- Group 1: P1-xx 148
- Basic Parameters 148
- 0 pulse O 149
- Group 2: P2-xx 150
- Extension Parameters 150
- Group 3: P3-xx 152
- Communication Parameters 152
- Group 4: P4-xx 153
- Diagnosis Parameters 153
- Monitor and General Use 154
- Gain and Switch 156
- 0 pulse O 157
- Position Control 158
- Speed Control 159
- Torque Control 160
- Digital I/O 161
- Communication 162
- Diagnosis 163
- P0 - 03 MON 166
- 10 msec 172
- P1 - 10 SP2 173
- P1 - 11 SP3 173
- P1 - 12 TQ1 173
- P1 - 13 TQ2 174
- P1 - 14 TQ3 174
- P1 - 15 PO1H 174
- P1 - 30 PO8L 177
- P1 - 31 Reversed 177
- P1 - 32 LSTP 177
- P1 - 33ϥ 177
- P1 - 37 TDEC 178
- P1 - 38 ZSPD 179
- P1 - 39 SSPD 179
- P1 - 42 MBT1 180
- P1 - 43 MBT2 180
- Rotation revolution 181
- Setting value 181
- P1 - 47 182
- 201kW and above 183
- 1kW and below 60 183
- 1201kW and above 183
- 1kW and below 40 183
- P1 - 54 PER 184
- P1 - 55 MSPD 184
- P1 - 56 OLW 184
- P2 - 05 SPR 186
- P2 - 08Ϯ 186
- P2 - 09 DRT 187
- P2 - 10 DI1 187
- P2 - 11 DI2 187
- P2 - 25 NLP 190
- P2 - 26 DST 190
- P2 - 27 GCC 190
- P2 - 28 GUT 190
- P2 - 29 GPE 190
- P2 - 30Ϯ 191
- Low speed 192
- High speed 192
- P2 - 49 SJIT 195
- P2 - 50 CCLR 195
- P2 - 57 ATM5 197
- P2 – 58 ATM6 197
- P2 - 59 ATM7 197
- P2 - 60 GR4 197
- P2 - 61 GR5 197
- P2 - 62 GR6 198
- P2 - 63 TSCA 198
- P2 - 64 198
- P3 - 00 ADR 200
- P3 - 01 BRT 200
- Unit: bps 200
- P3 - 02 PTL 200
- P3 - 03 FLT 201
- P3 - 04 CWD 201
- P3 - 05 CMM 201
- P3 - 06Ϯ 201
- P3 - 07 CDT 202
- P4 - 06ϧ 204
- P4 - 07 ITST 204
- P4 - 08 PKEY 204
- P4 - 09 MOT 204
- Communication Addr.: 0416H 207
- P4 - 23 TAO 207
- Communication Addr.: 0417H 207
- Configuration 214
- Cable Connection 214
- RS-485, RS-422 215
- Code Description: 220
- ASCII Mode: 220
- RTU Mode: 220
- Data Format: 220
- Communication Protocol: 221
- STX (Communication Start) 221
- CRC (RTU Mode): 224
- 9-1 Basic Inspection 230
- 9-2 Maintenance 231
- Chapter 10 Troubleshooting 232
- : Input power phase loss 238
- 10-3 Clearing Faults 239
- Chapter 11 Specifications 242
- Load (% rated torque) 249
- Operating Time (seconds) 249
- ˣ˘ʳ˧˘˥ˠ˜ˡ˜˔˟ 251
- WEIGHT (KG) 252
- 11-9 EMI Filters Selection 257
- Parameters Setting 260
- Operation 260
- Trigger Timing Charts 269
- 12-6 Feed Step Control 271
- Digital I/O Signal Setting 272
- Mode Functions 273
- (1) Homing Mode 276
- (2) Feed Step Control Mode 277
- (2) Auto Running Mode 285
- (3) Manual Control Mode 1 285
- (4) Manual Control Mode 2 286
- 12-8 Homing Function 287
- (2) B: Homing Moving Method 288
- Recommended Homing Modes 289
- Homing Timing Charts 289
- (2) Homing Timing Charts 290
- 291
- 5. B/A = 2/2 292
- 6. B/A = 2/3 292
- 7. B/A = 2/4 292
- DVP-EH MPU 294
- Appendix A: Accessories 300
- Power Cables 301
- Power Cables, cont 302
- Encoder Connectors 303
- Encoder Connectors, cont 304
- Encoder Cables 304
- Terminal Block 305
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